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[hal] Add systemcore duty cycle (#7682)

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This commit is contained in:
Thad House
2025-01-15 11:57:31 -08:00
committed by GitHub
parent 24d6e87447
commit 58cb395d76
17 changed files with 138 additions and 233 deletions
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39
wpilibc/src/main/native/cpp/DutyCycle.cpp
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@@ -4,50 +4,37 @@
#include "frc/DutyCycle.h"
#include <string>
#include <utility>
#include <hal/DutyCycle.h>
#include <hal/FRCUsageReporting.h>
#include <hal/HALBase.h>
#include <wpi/NullDeleter.h>
#include <wpi/StackTrace.h>
#include <wpi/sendable/SendableBuilder.h>
#include "frc/DigitalSource.h"
#include "frc/Errors.h"
#include "frc/SensorUtil.h"
using namespace frc;
DutyCycle::DutyCycle(DigitalSource* source)
: m_source{source, wpi::NullDeleter<DigitalSource>()} {
if (!m_source) {
throw FRC_MakeError(err::NullParameter, "source");
}
InitDutyCycle();
}
DutyCycle::DutyCycle(DigitalSource& source)
: m_source{&source, wpi::NullDeleter<DigitalSource>()} {
InitDutyCycle();
}
DutyCycle::DutyCycle(std::shared_ptr<DigitalSource> source)
: m_source{std::move(source)} {
if (!m_source) {
throw FRC_MakeError(err::NullParameter, "source");
DutyCycle::DutyCycle(int channel) : m_channel{channel} {
if (!SensorUtil::CheckDigitalChannel(channel)) {
throw FRC_MakeError(err::ChannelIndexOutOfRange, "Channel {}", channel);
}
InitDutyCycle();
}
void DutyCycle::InitDutyCycle() {
int32_t status = 0;
m_handle =
HAL_InitializeDutyCycle(m_source->GetPortHandleForRouting(),
static_cast<HAL_AnalogTriggerType>(
m_source->GetAnalogTriggerTypeForRouting()),
&status);
std::string stackTrace = wpi::GetStackTrace(1);
m_handle = HAL_InitializeDutyCycle(HAL_GetPort(m_channel), stackTrace.c_str(),
&status);
FRC_CheckErrorStatus(status, "Channel {}", GetSourceChannel());
int index = GetFPGAIndex();
HAL_Report(HALUsageReporting::kResourceType_DutyCycle, index + 1);
wpi::SendableRegistry::AddLW(this, "Duty Cycle", index);
HAL_Report(HALUsageReporting::kResourceType_DutyCycle, m_channel + 1);
wpi::SendableRegistry::AddLW(this, "Duty Cycle", m_channel);
}
int DutyCycle::GetFPGAIndex() const {
@@ -86,7 +73,7 @@ unsigned int DutyCycle::GetOutputScaleFactor() const {
}
int DutyCycle::GetSourceChannel() const {
return m_source->GetChannel();
return m_channel;
}
void DutyCycle::InitSendable(wpi::SendableBuilder& builder) {

39
wpilibc/src/main/native/cpp/DutyCycleEncoder.cpp
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@@ -18,8 +18,7 @@
using namespace frc;
DutyCycleEncoder::DutyCycleEncoder(int channel)
: m_dutyCycle{std::make_shared<DutyCycle>(
std::make_shared<DigitalInput>(channel))} {
: m_dutyCycle{std::make_shared<DutyCycle>(channel)} {
Init(1.0, 0.0);
}
@@ -38,25 +37,9 @@ DutyCycleEncoder::DutyCycleEncoder(std::shared_ptr<DutyCycle> dutyCycle)
Init(1.0, 0.0);
}
DutyCycleEncoder::DutyCycleEncoder(DigitalSource& digitalSource)
: m_dutyCycle{std::make_shared<DutyCycle>(digitalSource)} {
Init(1.0, 0.0);
}
DutyCycleEncoder::DutyCycleEncoder(DigitalSource* digitalSource)
: m_dutyCycle{std::make_shared<DutyCycle>(digitalSource)} {
Init(1.0, 0.0);
}
DutyCycleEncoder::DutyCycleEncoder(std::shared_ptr<DigitalSource> digitalSource)
: m_dutyCycle{std::make_shared<DutyCycle>(digitalSource)} {
Init(1.0, 0.0);
}
DutyCycleEncoder::DutyCycleEncoder(int channel, double fullRange,
double expectedZero)
: m_dutyCycle{std::make_shared<DutyCycle>(
std::make_shared<DigitalInput>(channel))} {
: m_dutyCycle{std::make_shared<DutyCycle>(channel)} {
Init(fullRange, expectedZero);
}
@@ -78,24 +61,6 @@ DutyCycleEncoder::DutyCycleEncoder(std::shared_ptr<DutyCycle> dutyCycle,
Init(fullRange, expectedZero);
}
DutyCycleEncoder::DutyCycleEncoder(DigitalSource& digitalSource,
double fullRange, double expectedZero)
: m_dutyCycle{std::make_shared<DutyCycle>(digitalSource)} {
Init(fullRange, expectedZero);
}
DutyCycleEncoder::DutyCycleEncoder(DigitalSource* digitalSource,
double fullRange, double expectedZero)
: m_dutyCycle{std::make_shared<DutyCycle>(digitalSource)} {
Init(fullRange, expectedZero);
}
DutyCycleEncoder::DutyCycleEncoder(std::shared_ptr<DigitalSource> digitalSource,
double fullRange, double expectedZero)
: m_dutyCycle{std::make_shared<DutyCycle>(digitalSource)} {
Init(fullRange, expectedZero);
}
void DutyCycleEncoder::Init(double fullRange, double expectedZero) {
m_simDevice = hal::SimDevice{"DutyCycle:DutyCycleEncoder",
m_dutyCycle->GetSourceChannel()};

26
wpilibc/src/main/native/include/frc/DutyCycle.h
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@@ -36,29 +36,11 @@ class DutyCycle : public wpi::Sendable, public wpi::SendableHelper<DutyCycle> {
public:
/**
* Constructs a DutyCycle input from a DigitalSource input.
* Constructs a DutyCycle input from a smartio channel.
*
* <p> This class does not own the inputted source.
*
* @param source The DigitalSource to use.
* @param source The channel to use.
*/
explicit DutyCycle(DigitalSource& source);
/**
* Constructs a DutyCycle input from a DigitalSource input.
*
* <p> This class does not own the inputted source.
*
* @param source The DigitalSource to use.
*/
explicit DutyCycle(DigitalSource* source);
/**
* Constructs a DutyCycle input from a DigitalSource input.
*
* <p> This class does not own the inputted source.
*
* @param source The DigitalSource to use.
*/
explicit DutyCycle(std::shared_ptr<DigitalSource> source);
explicit DutyCycle(int source);
DutyCycle(DutyCycle&&) = default;
DutyCycle& operator=(DutyCycle&&) = default;
@@ -121,7 +103,7 @@ class DutyCycle : public wpi::Sendable, public wpi::SendableHelper<DutyCycle> {
private:
void InitDutyCycle();
std::shared_ptr<DigitalSource> m_source;
int m_channel;
hal::Handle<HAL_DutyCycleHandle, HAL_FreeDutyCycle> m_handle;
};
} // namespace frc

57
wpilibc/src/main/native/include/frc/DutyCycleEncoder.h
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@@ -61,33 +61,6 @@ class DutyCycleEncoder : public wpi::Sendable,
*/
explicit DutyCycleEncoder(std::shared_ptr<DutyCycle> dutyCycle);
/**
* Construct a new DutyCycleEncoder attached to a DigitalSource object.
*
* <p>This has a fullRange of 1 and an expectedZero of 0.
*
* @param digitalSource the digital source to attach to
*/
explicit DutyCycleEncoder(DigitalSource& digitalSource);
/**
* Construct a new DutyCycleEncoder attached to a DigitalSource object.
*
* <p>This has a fullRange of 1 and an expectedZero of 0.
*
* @param digitalSource the digital source to attach to
*/
explicit DutyCycleEncoder(DigitalSource* digitalSource);
/**
* Construct a new DutyCycleEncoder attached to a DigitalSource object.
*
* <p>This has a fullRange of 1 and an expectedZero of 0.
*
* @param digitalSource the digital source to attach to
*/
explicit DutyCycleEncoder(std::shared_ptr<DigitalSource> digitalSource);
/**
* Construct a new DutyCycleEncoder on a specific channel.
*
@@ -125,36 +98,6 @@ class DutyCycleEncoder : public wpi::Sendable,
DutyCycleEncoder(std::shared_ptr<DutyCycle> dutyCycle, double fullRange,
double expectedZero);
/**
* Construct a new DutyCycleEncoder attached to a DigitalSource object.
*
* @param digitalSource the digital source to attach to
* @param fullRange the value to report at maximum travel
* @param expectedZero the reading where you would expect a 0 from get()
*/
DutyCycleEncoder(DigitalSource& digitalSource, double fullRange,
double expectedZero);
/**
* Construct a new DutyCycleEncoder attached to a DigitalSource object.
*
* @param digitalSource the digital source to attach to
* @param fullRange the value to report at maximum travel
* @param expectedZero the reading where you would expect a 0 from get()
*/
DutyCycleEncoder(DigitalSource* digitalSource, double fullRange,
double expectedZero);
/**
* Construct a new DutyCycleEncoder attached to a DigitalSource object.
*
* @param digitalSource the digital source to attach to
* @param fullRange the value to report at maximum travel
* @param expectedZero the reading where you would expect a 0 from get()
*/
DutyCycleEncoder(std::shared_ptr<DigitalSource> digitalSource,
double fullRange, double expectedZero);
~DutyCycleEncoder() override = default;
DutyCycleEncoder(DutyCycleEncoder&&) = default;